// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>

#include <franka/exception.h>
#include <franka/robot.h>

#include "examples_common.h"

/**
 * @example generate_consecutive_motions.cpp
 * An example showing how to execute consecutive motions with error recovery.
 *
 * @warning Before executing this example, make sure there is enough space in front and to the side
 * of the robot.
 */

int main(int argc, char** argv) {
  if (argc != 2) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
    return -1;
  }
  try {
    franka::Robot robot(argv[1]);
    setDefaultBehavior(robot);

    // First move the robot to a suitable joint configuration
    std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
    MotionGenerator motion_generator(0.5, q_goal);
    std::cout << "WARNING: This example will move the robot! "
              << "Please make sure to have the user stop button at hand!" << std::endl
              << "Press Enter to continue..." << std::endl;
    std::cin.ignore();
    robot.control(motion_generator);
    std::cout << "Finished moving to initial joint configuration." << std::endl;

    // Set additional parameters always before the control loop, NEVER in the control loop!
    // Set collision behavior.
    robot.setCollisionBehavior(
        {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}}, {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}},
        {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}}, {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}},
        {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}}, {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}},
        {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}}, {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}});

    for (size_t i = 0; i < 5; i++) {
      std::cout << "Executing motion." << std::endl;
      try {
        double time_max = 4.0;
        double omega_max = 0.2;
        double time = 0.0;
        robot.control([=, &time](const franka::RobotState&,
                                 franka::Duration period) -> franka::JointVelocities {
          time += period.toSec();

          double cycle = std::floor(std::pow(-1.0, (time - std::fmod(time, time_max)) / time_max));
          double omega = cycle * omega_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));

          franka::JointVelocities velocities = {{0.0, 0.0, omega, 0.0, 0.0, 0.0, 0.0}};
          if (time >= 2 * time_max) {
            std::cout << std::endl << "Finished motion." << std::endl;
            return franka::MotionFinished(velocities);
          }
          return velocities;
        });
      } catch (const franka::ControlException& e) {
        std::cout << e.what() << std::endl;
        std::cout << "Running error recovery..." << std::endl;
        robot.automaticErrorRecovery();
      }
    }
  } catch (const franka::Exception& e) {
    std::cout << e.what() << std::endl;
    return -1;
  }

  std::cout << "Finished." << std::endl;

  return 0;
}
